This thesis explores the implementation of a framework for creating simulations of timber fabrication processes using cyber-physical robotic platforms. The main focus was put on the visualizations of common tasks involved in the fabrication processes. In order to give rapid visual feedback to the user, several techniques, such as voxel objects and texture painting, are used. To keep interactions between the user and simulated robots as realistic as possible, the same control mechanism deployed for the physical platforms is used for the simulated robots. For increased immersion, virtual reality glasses are used. By moving around within the scenes, users of the simulations can perform tasks more naturally compared to other traditional interaction methods. Using virtual reality glasses also leads to greater spatial awareness, giving users a better idea of the look and feel of the finished project.

This framework enables a faster implementation of custom workflows involving the fabrication platforms and tasks such as gluing and milling among others.

During the design of the framework, usability was considered for the users as well as the developers using the framework in order to create new simulations.

To test the framework a typical fabrication workflow was implemented. The resulting simulation is evaluated in a small study conducted with domain experts.

It was found that simulations created with the framework could be used to train workers new to the processes involving robotic fabrication platforms and also to plan future workflows that involve novel fabrication processes.